Anti-collision mechanism and sweeping robot

ABSTRACT

An anti-collision mechanism comprises a body, a collision baffle, a magnetic element, and a magnetic field sensor, and the anti-collision mechanism is configured to be applicable to a sweeping robot. The magnetic field sensor is arranged at a distance from the magnetic element, the magnetic field sensor is configured to detect a change in the magnetic field intensity caused by a change in the distance between the magnetic field sensor and the magnetic element. When the collision occurs, the magnetic element is closer to the magnetic field sensor to make the magnetic field intensity change, thus generating signals to stop or turn the sweeping robot, which can realize the obstacle avoidance of the sweeping robot and enhance the service life. The sweeping robot is also provided.

TECHNICAL FIELD

The subject matter herein generally relates to sweeping robot.

BACKGROUND

A sweeping robot is a kind of intelligent household appliance, which has the function of absorbing ground sundries into its own garbage collection box, so as to complete the ground cleaning. Most sweeping robots can also reserve times to clean, charge by itself and perform other functions. Sweeping robots are common household appliances in modern families.

Existing sweeping robot often bumps into walls or tables, chairs and benches in its working process due to the complex surrounding environment. Frequent impacts will damage the sweeping robot and shorten its life.

BRIEF DESCRIPTION OF THE DRAWINGS

Implementations of the present technology will now be described, by way of example only, with reference to the attached figures.

FIG. 1 is a diagram of an exploded view of an anti-collision mechanism in one embodiment of the present application.

FIG. 2 is a diagram of another exploded view of the anti-collision mechanism in FIG. 1 .

FIG. 3 is a diagram of another exploded view of the anti-collision mechanism in FIG. 1 .

FIG. 4 is a diagram of a sweeping robot in one embodiment of the present application.

FIG. 5 is a diagram of a sweeping robot in another embodiment of the present application.

DETAILED DESCRIPTION

It will be appreciated that for simplicity and clarity of illustration, where appropriate, reference numerals have been repeated among the different figures to indicate corresponding or analogous elements. In addition, numerous specific details are set forth in order to provide a thorough understanding of the embodiments described herein. However, it will be understood by those of ordinary skill in the art that the embodiments described herein can be practiced without these specific details. In other instances, methods, procedures, and components have not been described in detail so as not to obscure the related relevant feature being described. Also, the description is not to be considered as limiting the scope of the embodiments described herein. The drawings are not necessarily to scale and the proportions of certain parts may be exaggerated to better illustrate details and features of the present disclosure. It should be noted that references to “an” or “one” embodiment in this disclosure are not necessarily to the same embodiment, and such references mean “at least one”.

Several definitions that apply throughout this disclosure will now be presented.

The term “coupled” is defined as connected, whether directly or indirectly through intervening components, and is not necessarily limited to physical connections. The connection can be such that the objects are permanently connected or releasably connected. The term “comprising,” when utilized, means “including, but not necessarily limited to”; it specifically indicates open-ended inclusion or membership in the so-described combination, group, series, and the like.

FIG. 1 is a diagram of explosion of an anti-collision mechanism 10 in one embodiment of the present application. The anti-collision mechanism 10 can be set in the sweeping robot 100 (as shown in FIG. 4 ). The sweeping robot 100 comprises a body 110, the anti-collision mechanism 10 is configured to cooperate with the body 110 to avoid obstacles and improve safety of the sweeping robot 100.

The anti-collision mechanism 10 comprises a body 110, a collision baffle 11, a magnetic element 12, and a magnetic field sensor 13. The collision baffle 11 is arranged on an outside of the body 110, and the anti-collision baffle 11 is arranged as a circular arc. The magnetic element 12 is arranged on one side of the anti-collision baffle 11 facing the body 110. The magnetic field sensor 13 is arranged on one side of the body 110 facing the anti-collision baffle 11; a distance is defined between the magnetic field sensor 13 and the magnetic element 12, the magnetic field sensor 13 is configured to detect a change in the magnetic field intensity when the the distance between the magnetic field sensor 13 and the magnetic element 12 changes.

In this embodiment, the magnetic element 12 can be permanent magnets, and there is no other object between the magnetic element 12 and the magnetic field sensor 13. The sweeping robot 100 needs to move around in the process of work. When the anti-collision baffler 11 hits walls, tables, chairs, benches, or other objects, it is close to the body 110 under the action of external force. At the same time, the magnetic element 12 is driven close to the magnetic field sensor 13, so that the magnetic field intensity between the magnetic element 12 and the magnetic field sensor 13 becomes stronger. Then the voltage in the magnetic field sensor 13 becomes higher. Based on this change, the magnetic field sensor 13 feeds back relevant electrical signals to the sweeping robot 100, the sweeping robot 100 gets information that the anti-collision baffler 11 is collided, and then controls the sweeping robot 100 to stop walking or to turn, so as to realize the obstacle avoidance of the sweeping robot 100.

In one embodiment, the magnetic field sensor 13 can be a Hall sensor. The working principle of Hall sensor is Hall Effect. There is a Hall semiconductor sheet in the magnetic field. When a constant current passes through the Hall semiconductor sheet from one end to the other, under the action of Lorentz force, the electron flow of the current shifts to one side when passing through the Hall semiconductor sheet, making the film produce a potential difference at both ends. This voltage is called Hall voltage, and this phenomenon is called Hall Effect. Hall voltage varies with the intensity of the magnetic field, the stronger the magnetic field, the higher the voltage, the weaker the magnetic field, the lower the voltage. Hall voltage values are usually small, only a few millivolts, but can be amplified by an internal amplifier for signal transmission. The magnetic signal is converted into electrical signal by Hall device, which is sent to the controller, and then the speed of the motor is controlled.

The body 110 can be a disc shape, the collision baffle 11 is arranged as a circular arc and on the front side of the body 110. When the sweeping robot 100 hits walls, tables, chairs, benches, or other objects, the circular arc anti-collision baffle 11 can better match the body 110. At the same time, the circular arc anti-collision baffle 11 can also make the sweeping robot 100 easier to turn, so as to enhance the applicability of the sweeping robot 100.

The material of the anti-collision baffle 11 can be plastic material. The plastic material has good expansibility and scalability. The anti-collision baffle 11 is not easy to be damaged when collided, thus enhancing the practicality of the anti-collision mechanism 10.

The size of the anti-collision baffle 11 can be set according to the actual size of the sweeping robot 100, so as to better adapt to the sweeping robot 100 and realize the obstacle avoidance.

The outside of the sweeping robot 100 can be provided with a plurality of anti-collision mechanisms 10, and the plurality of anti-collision mechanisms are arranged in a circle with same distance from each other, to maximize the protection of the sweeping robot 100 and achieve better obstacle avoidance.

The outer surface of the anti-collision baffle 11 can be wrapped with a spongy cushion layer to enhance the protection performance of the anti-collision mechanism 10, and prevent furniture or other objects from being damaged by the collision while enhance the service life of the sweeping robot 100.

In one embodiment, the anti-collision mechanism 10 further comprises a top plate 14, the top plate 14 is arranged on the top of the body 110 and is configured to match with the body 110 to form a fixed slot 141, a connecting plate 111 is formed by extending a side of a top side of the anti-collision baffle 11 facing the body, part of the connecting plate 111 is embedded in the fixed slot 141.

In this embodiment, the side of the connecting plate 111 away from the top plate 14 is extended with a buffer plate 114. The fixed slot 141 comprises a first side wall 142 arranged on the side of the fixed slot 141 facing the body 110. The buffer plate 114 touches the first side wall 142. The buffer plate 114 is movable in the fixed slot 141. The side of the connecting plate 111 facing the top plate 14 is extended with a buffer part 115, the buffer part 115 touches the top plate 14, to prevent the connecting plate 111 from completely shrinking to fixed slot 141 when the sweeping robot 100 is collided.

When the sweeping robot 100 collides with an external object, the anti-collision baffle 11 moves closer to the body 110 under the action of external force. Part of the connecting plate 111 is shrunk to the fixed slot 141 under the drive of the anti-collision baffle 11. With the buffer plate 114 touching the first side wall 142, the anti-collision baffle 11 can be buffered and the damage caused by the anti-collision baffle 11 to the body 110 can be reduced. When the sweeping robot 100 is turned by the collision, driven by the recovery force of the buffer part 115, the anti-collision baffle 11 can be quickly reset, so as to restore the normal working process of the sweeping robot 100.

Referring to FIG. 2 , the anti-collision mechanism 10 further comprises a bottom plate 15 and a connecting piece 16, the bottom plate 15 is arranged at the bottom of the body 110, the bottom plate 15 comprises a first through hole 151, the anti-collision baffle 11 comprises a fixing column 112 arranged on the side of the anti-collision baffle 11 facing the bottom plate 15, the fixing column 112 comprises a second through hole 113, the connecting piece 16 extends through the first through hole 151 and the second through hole 113, the connecting piece 16 is configured to fix the anti-collision baffle 11 to the bottom plate 11.

In this embodiment, the connecting piece 16 can be a screw with external thread, the first through hole 151 and the second through hole 113 can be a screw hole with internal thread. The connecting piece 16 can be matched with the first through hole 151 and the second through hole 113 through the external thread and the internal thread, so that the collision baffle 11 is fixedly connected with the bottom plate 15.

In one embodiment, the bottom plate 15 comprises a convex block 152 arranged on the side of the bottom plate 15 facing the body 110, the body 110 comprises a groove 153 arranged on the side of the body 110 facing the bottom plate 15, the convex block 152 is embedded in the groove 153.

In this embodiment, the convex block 152 has a certain movement space in the groove 153, so that the collision baffle 11 and the body 110 can be movable connected. When the collision baffle 11 shifts from shrunk state to reset, the convex block 152 touches the second side wall 154 of the groove 153, to prevent the collision baffle 11 from falling off from the body 110 and losing the obstacle avoidance function.

Referring to FIG. 3 , the magnetic element 12 is arranged on the side of the anti-collision baffle 11 close the body 110 through a switching device 17, the switching device 17 is configured to limit the movements of the magnetic element 12 to overcome the swing caused by an external force.

In one embodiment, the switching device 17 is fixed on the side of the anti-collision baffle 11 facing the body 110, the switching device 17 is made of rigid material. The rigid material is a material with low elasticity coefficient, which can prevent the swing of the magnetic element 12 when the anti-collision baffle 11 hits an external object.

In this embodiment, when the sweeping robot 100 is in normal working mode, the distance between the magnetic field sensor 13 and the magnetic element 12 is set within the preset initial value range, and the sweeping robot 100 moves in the given direction. When the anti-collision baffle 11 is collided, the distance between the magnetic field sensor 13 and the magnetic element 12 becomes shorter, and the magnetic field intensity between the magnetic element 12 and the magnetic field sensor 13 becomes stronger, thus changing the voltage in the magnetic field sensor 13. Based on this change, the magnetic field sensor 13 feeds back relevant electrical signals to the sweeping robot 100, con that the sweeping robot 100 can get the information that the anti-collision baffle 11 is collided, and then controls the sweeping robot 100 to stop walking or turning, to realize the obstacle avoidance of the sweeping robot 100.

In the anti-collision mechanism 10 as shown in FIG. 1-3 , a magnetic element 12 is set in the anti-collision baffle 11, and a magnetic field sensor 13 is set in the sweeping robot 100 at a distance from the magnetic element 12. When the baffle 11 is collided, the distance between the magnetic element 12 and the magnetic field sensor 13 becomes shorter, and the magnetic field intensity between the magnetic element 12 and the magnetic field sensor 13 becomes stronger. According to the change of magnetic field intensity between the magnetic element 12 and the magnetic field sensor 13, the magnetic field sensor 13 feeds back relevant signals to the sweeping robot 100. The sweeping robot 100 controls the sweeping robot 100 to stop walking or turning, so as to realize the obstacle avoidance of the sweeping robot 100. The structure of the anti-collision mechanism 10 is easy to realize and operate, and can improve the safety of the sweeping robot 100 operation and enhance the service life of the sweeping robot 100.

Referring to FIG. 4 and FIG. 5 , the sweeping robot 100 comprising a body 110, a main controller 120, a road wheel 160 and a anti-collision mechanism 10, the main controller 120 is electrically connected with the magnetic field sensor 13 of the anti-collision mechanism 10, the main controller 120 is configured to control the road wheel 160 to stop or turn.

In one embodiment, the sweeping robot 100 further comprises an adapter shaft 150, the body 110 comprises a drive motor 130, the driving motor 130 is electrically connected with the main controller 120, the driving motor 130 is connected with the road wheel 160 through the adapter shaft 150, the driving motor 130 is configured to drive the road wheel 160 to rotate, so that the sweeping robot 100 can move in the given direction.

In one embodiment, the sweeping robot 100 further comprises a control panel 140, the control panel 140 is configured to display the working state of the sweeping robot 100.

In this embodiment, when the sweeping robot 100 collides an external object, the anti-collision shield 11 shrinks in the direction close to the body 110, driving the magnetic element 12 close to the magnetic field sensor 13, so that the magnetic field sensor 13 can detect the change of magnetic field strength of the magnetic element 12 and generate magnetic signals. The magnetic field sensor 13 converts the magnetic signal into electrical signal and feeds back to the main controller 120. The main controller 120 controls the driving motor 130 according to the received electrical signal, so as to control the road wheel 160 to stop or turn and realize the obstacle avoidance of the sweeping robot 100.

The anti-collision mechanism 10 and sweeping robot 100 provided in the present application can realize obstacle avoidance by a magnetic field sensor 13 arranged on the body 110 of sweeping robot 100 and a magnetic component 12 arranged on the anti-collision baffle 11. When the sweeping robot 100 is collided, the anti-collision baffle 11 drives the magnetic component 12 close to the magnetic field sensor 13, so that the magnetic field intensity between the magnetic component 12 and the magnetic field sensor 13 becomes stronger. Based on this change, the magnetic field sensor 13 feeds back relevant signals to the main controller 120, so that the main controller 120 controls the road wheel 160 to stop or turn and avoid obstacles, thus to improve the operation safety of the sweeping robot 100 and enhance the service life of sweeping robot 100.

The exemplary embodiments shown and described above are only examples. Many such details are neither shown nor described. Even though numerous characteristics and advantages of the present technology have been set forth in the foregoing description, together with details of the structure and function of the present disclosure, the disclosure is illustrative only, and changes may be made in the detail, including in matters of shape, size, and arrangement of the parts within the principles of the present disclosure, up to and including the full extent established by the broad general meaning of the terms used in the claims. It will therefore be appreciated that the exemplary embodiments described above may be modified within the scope of the claims. 

What is claimed is:
 1. An anti-collision mechanism, configured to be applicable to a sweeping robot, the anti-collision mechanism comprising: a body; a anti-collision baffle arranged on an exterior of the body, wherein the anti-collision baffle is arranged as a circular arc; a magnetic element arranged on a side of the anti-collision baffle facing the body; a magnetic field sensor arranged on a side of the body facing the anti-collision baffle; wherein a distance is defined between the magnetic field sensor and the magnetic element, and the magnetic field sensor is configured to detect a change in a magnetic field intensity when the distance between the magnetic field sensor and the magnetic element changes.
 2. The anti-collision mechanism of claim 1, wherein the anti-collision mechanism further comprises a top plate and a connecting plate, the top plate is arranged on a top side of the body, the top plate and the body form a fixed slot, the connecting plate is formed by extending a side of a top side of the anti-collision baffle facing the body, a part of the connecting plate is embedded in the fixed slot.
 3. The anti-collision mechanism of claim 1, wherein the anti-collision mechanism further comprises a bottom plate and a connecting piece, the bottom plate is arranged at a bottom of the body, the bottom plate comprises a first through hole, the anti-collision baffle comprises a fixing column arranged on a side of the anti-collision baffle facing the bottom plate, the fixing column comprises a second through hole, the connecting piece extends through the first through hole and the second through hole, the connecting piece is configured to fix the anti-collision baffle to the bottom plate.
 4. The anti-collision mechanism of claim 3, wherein the bottom plate comprises a convex block arranged on a side of the bottom plate facing the body, the body comprises a groove arranged on a side of the body facing the bottom plate, the convex block is embedded in the groove.
 5. The anti-collision mechanism of claim 1, wherein the magnetic element is arranged on the anti-collision baffle through a switching device, the switching device is configured to limit movements of the magnetic element.
 6. The anti-collision mechanism of claim 5, wherein the switching device is fixed on the side of the anti-collision baffle facing the body, the switching device is made of rigid material.
 7. The anti-collision mechanism of claim 1, wherein the magnetic field sensor is a Hall sensor.
 8. A sweeping robot comprising a main controller, a road wheel, and an anti-collision mechanism, wherein the main controller is electrically connected with a magnetic field sensor of the anti-collision mechanism, the main controller is configured to control the road wheel to stop or to turn, a profile of the anti-collision mechanism is matched to an exterior profile of the body, the anti-collision mechanism comprises: a body; a anti-collision baffle arranged on an exterior of the body, wherein the anti-collision baffle is arranged as a circular arc; a magnetic element arranged on a side of the anti-collision baffle facing the body; a magnetic field sensor arranged on a side of the body facing the anti-collision baffle; wherein a distance is defined between the magnetic field sensor and the magnetic element, and the magnetic field sensor is configured to detect a change in a magnetic field intensity when the distance between the magnetic field sensor and the magnetic element changes.
 9. The sweeping robot of claim 8, wherein the sweeping robot further comprises an adapter shaft, the body comprises a drive motor, the driving motor is electrically connected with the main controller, the driving motor is connected with the road wheel through the adapter shaft, the driving motor is configured to drive the road wheel to rotate.
 10. The sweeping robot of claim 8, wherein the sweeping robot further comprises a control panel, the control panel is configured to display the working state of the sweeping robot.
 11. The sweeping robot of claim 8, wherein the anti-collision mechanism further comprises a top plate and a connecting plate, the top plate is arranged on a top side of the body, the top plate and the body form a fixed slot, the connecting plate is formed by extending a side of a top side of the anti-collision baffle facing the body, a part of the connecting plate is embedded in the fixed slot.
 12. The sweeping robot of claim 8, wherein the anti-collision mechanism further comprises a bottom plate and a connecting piece, the bottom plate is arranged at a bottom of the body, the bottom plate comprises a first through hole, the anti-collision baffle comprises a fixing column arranged on a side of the anti-collision baffle facing the bottom plate, the fixing column comprises a second through hole, the connecting piece extends through the first through hole and the second through hole, the connecting piece is configured to fix the anti-collision baffle to the bottom plate.
 13. The sweeping robot of claim 12, wherein the bottom plate comprises a convex block arranged on a side of the bottom plate facing the body, the body comprises a groove arranged on a side of the body facing the bottom plate, the convex block is embedded in the groove.
 14. The sweeping robot of claim 8, wherein the magnetic element is arranged on the anti-collision baffle through a switching device, the switching device is configured to limit movements of the magnetic element.
 15. The sweeping robot of claim 14, wherein the switching device is fixed on the side of the anti-collision baffle facing the body, the switching device is made of rigid material.
 16. The sweeping robot of claim 8, wherein the magnetic field sensor is a Hall sensor. 